version: 66.04
glider: 144
mission: 15
dive: 659
start: 1 18 110 10 51 18
data:
$ID,144
$MISSION,15
$DIVE,659
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-74956.164
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,104031,5007.325,-14446.823,37,1.3,37,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.0
$GPS2,105022,5007.300,-14446.831,13,2.4,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.043,0.052
$KALMAN_X,-89000.8,595.1,662.4,115782.7,-3241.9
$KALMAN_Y,29261.9,251.8,314.7,-55175.8,-1471.8
$MHEAD_RNG_PITCHd_Wd,302.2,4833,-36.4,-5.500
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.60,-17.4,0.0,0.0,0,59,0.00,0.00,-40.67,0.000,2,0.000,0.000,99,2299,2602
$GC,63,-1.60,-17.4,3.5,-5.8,2,86,6.30,2.40,-11.43,0.000,4,0.227,0.059,1652,894,3004
$GC,341,-1.65,-17.4,60.6,-22.8,14,345,0.00,2.25,0.00,0.000,6,0.000,0.037,1643,2307,3006
$GC,666,-1.71,-17.4,129.9,-19.3,40,670,0.00,2.30,0.00,0.000,4,0.000,0.043,1652,889,3006
$GC,836,-1.80,-17.4,160.5,-16.9,51,840,0.12,2.25,0.00,0.000,6,0.076,0.039,1594,2303,3006
$GC,1177,-1.80,-17.4,222.4,-17.3,62,1181,0.00,2.25,0.00,0.000,4,0.000,0.043,1602,886,3006
$GC,1295,-1.83,-17.4,242.6,-17.6,65,1299,0.00,2.25,0.00,0.000,6,0.000,0.040,1594,2301,3007
$GC,1615,-1.83,-17.4,295.9,-16.7,76,1619,0.00,2.30,0.00,0.000,4,0.000,0.048,1600,886,3007
$GC,1683,-1.86,-17.4,307.4,-15.8,78,1687,0.00,2.28,0.00,0.000,6,0.000,0.043,1591,2313,3006
$GC,2043,-1.86,-17.4,367.4,-16.9,84,2047,0.00,2.33,0.00,0.000,4,0.000,0.046,1592,885,3006
$GC,2302,-1.86,-17.4,411.4,-16.5,87,2308,0.00,2.25,0.00,0.000,6,0.000,0.044,1581,2302,3006
$GC,2613,-1.86,-17.4,460.9,-15.9,93,2617,0.00,2.30,0.00,0.000,4,0.000,0.045,1585,890,3006
$GC,2871,-1.86,-17.4,500.9,-15.2,96,2878,0.00,2.28,0.00,0.000,6,0.000,0.044,1576,2304,3006
$GC,3182,-1.86,-17.4,545.4,-14.2,102,3186,0.00,2.28,0.00,0.000,4,0.000,0.044,1576,895,3006
$GC,3267,-1.86,-17.4,558.1,-14.9,103,3272,0.12,2.25,0.00,0.000,6,0.204,0.045,1591,2313,3006
$GC,3617,-1.86,-17.4,603.7,-12.9,109,3621,0.00,2.35,0.00,0.000,4,0.000,0.048,1600,889,3006
$GC,3724,-1.88,-17.4,617.8,-12.9,110,3728,0.00,2.30,0.00,0.000,6,0.000,0.039,1592,2315,3005
$GC,4046,-1.88,-17.4,659.2,-13.0,116,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2316,3005
$GC,4348,-1.88,-17.4,698.2,-12.8,121,4352,0.00,2.33,0.00,0.000,4,0.000,0.050,1592,895,3004
$GC,4382,-1.88,-17.4,702.7,-12.6,121,4386,0.00,2.28,0.00,0.000,6,0.000,0.041,1582,2311,3004
$GC,4710,-1.88,-17.4,743.2,-12.3,127,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2312,3005
$GC,5013,-1.88,-17.4,780.0,-12.1,132,5018,0.00,2.33,0.00,0.000,4,0.000,0.048,1582,889,3004
$GC,5070,-1.88,-17.4,787.5,-12.9,132,5076,0.00,2.28,0.00,0.000,6,0.000,0.047,1571,2304,3003
$GC,5380,-1.88,-17.4,825.9,-12.4,138,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2304,3004
$GC,5683,-1.88,-17.4,864.0,-12.6,143,5687,0.00,2.30,0.00,0.000,4,0.000,0.045,1571,894,3003
$GC,5769,-1.88,-17.4,875.4,-13.1,144,5773,0.12,2.30,0.00,0.000,6,0.206,0.044,1586,2316,3003
$GC,6118,-1.91,-17.4,918.6,-12.4,150,6122,0.00,2.35,0.00,0.000,4,0.000,0.045,1588,888,3003
$GC,6215,-1.93,-17.4,930.9,-12.4,151,6219,0.00,2.30,0.00,0.000,6,0.000,0.039,1579,2309,3003
$GC,6548,-1.93,-17.4,970.7,-11.9,157,6552,0.00,2.30,0.00,0.000,4,0.000,0.046,1580,895,3003
$GC,6685,-1.93,-17.4,987.2,-11.4,159,6689,0.00,2.28,0.00,0.000,6,0.000,0.041,1572,2301,3003
$STATE,6710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6710,begin apogee
$GC,6719,-0.22,0.0,990.7,13.0,159,6739,1.38,0.00,16.45,1.198,6,0.181,0.000,1944,2301,2931
$STATE,6740,end apogee,CONTROL_FINISHED_OK
$STATE,6740,begin climb
$GC,6744,1.60,17.4,992.5,0.0,159,6764,1.12,0.00,16.33,1.174,6,0.068,0.000,2351,2301,2860
$GC,7055,1.63,62.4,1000.3,-4.1,165,7099,0.00,2.40,38.33,1.255,4,0.000,0.051,2344,3707,2675
$GC,7354,1.56,62.4,981.1,9.2,169,7358,0.00,2.28,0.00,0.000,6,0.000,0.035,2352,2298,2673
$GC,7686,1.56,62.4,952.8,8.5,175,7690,0.00,2.35,0.00,0.000,4,0.000,0.053,2343,3722,2673
$GC,7945,1.49,62.4,928.8,9.5,178,7952,0.15,2.28,0.00,0.000,6,0.243,0.034,2322,2302,2673
$GC,8256,1.53,62.4,906.2,7.2,184,8260,0.00,2.33,0.00,0.000,4,0.000,0.048,2315,3721,2672
$GC,8370,1.50,62.4,897.0,8.2,185,8374,0.00,2.28,0.00,0.000,6,0.000,0.034,2324,2291,2672
$GC,8686,1.53,62.4,872.9,7.6,191,8690,0.00,2.30,0.00,0.000,4,0.000,0.054,2315,3713,2672
$GC,8749,1.51,62.4,867.6,8.8,191,8755,0.00,2.22,0.00,0.000,6,0.000,0.034,2325,2302,2671
$GC,9061,1.54,62.4,844.2,7.4,197,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2302,2671
$GC,9364,1.57,62.4,822.3,7.2,202,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2302,2671
$GC,9666,1.60,62.4,801.3,6.9,207,9671,0.08,2.33,0.00,0.000,4,0.105,0.048,2354,3716,2670
$GC,9925,1.51,62.4,781.5,7.3,210,9932,0.15,2.25,0.00,0.000,6,0.238,0.034,2332,2299,2671
$GC,10236,1.51,62.4,763.5,5.6,216,10240,0.00,2.33,0.00,0.000,4,0.000,0.048,2329,3721,2670
$GC,10328,1.46,62.4,757.9,5.9,217,10332,0.00,2.25,0.00,0.000,6,0.000,0.034,2338,2299,2670
$GC,10666,1.46,62.4,739.3,5.5,223,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2299,2670
$GC,10969,1.46,62.4,721.8,5.8,228,10973,0.00,2.30,0.00,0.000,4,0.000,0.051,2329,3715,2670
$GC,11172,1.42,62.4,708.4,6.0,231,11177,0.12,2.22,0.00,0.000,6,0.232,0.034,2313,2301,2670
$GC,11533,1.47,62.4,686.3,6.2,237,11537,0.00,2.28,0.00,0.000,4,0.000,0.048,2303,3719,2670
$GC,11578,1.47,62.4,683.3,6.4,237,11582,0.00,2.22,0.00,0.000,6,0.000,0.034,2311,2292,2670
$GC,11906,1.52,62.4,662.0,6.5,243,11910,0.00,2.33,0.00,0.000,4,0.000,0.050,2303,3713,2670
$GC,11969,1.52,62.4,657.5,7.1,244,11973,0.00,2.25,0.00,0.000,6,0.000,0.034,2312,2306,2670
$GC,12335,1.57,62.4,635.8,5.8,250,12340,0.10,2.33,0.00,0.000,4,0.087,0.049,2342,3719,2670
$GC,12594,1.49,62.4,619.3,6.7,253,12601,0.12,2.25,0.00,0.000,6,0.237,0.034,2327,2301,2669
$GC,12906,1.52,66.7,604.6,4.6,259,12912,0.00,0.00,4.25,0.666,6,0.000,0.000,2327,2301,2659
$GC,13208,1.56,70.9,590.7,4.6,264,13215,0.00,0.00,5.30,0.752,6,0.000,0.000,2327,2302,2641
$GC,13511,1.59,73.9,576.2,4.9,269,13520,0.00,2.33,4.12,0.643,4,0.000,0.048,2317,3722,2629
$GC,13775,1.59,73.9,560.3,6.1,272,13781,0.00,2.25,0.00,0.000,6,0.000,0.034,2326,2299,2628
$GC,14087,1.63,75.4,544.1,5.2,278,14091,0.10,2.30,0.00,0.000,4,0.087,0.047,2356,3714,2628
$GC,14345,1.55,75.4,526.7,7.0,281,14352,0.12,2.28,0.00,0.000,6,0.238,0.033,2340,2298,2628
$GC,14656,1.55,75.4,507.5,6.2,287,14660,0.00,2.30,0.00,0.000,4,0.000,0.047,2330,3715,2628
$GC,14915,1.51,75.4,489.1,6.7,290,14921,0.00,2.28,0.00,0.000,6,0.000,0.034,2339,2292,2628
$GC,15226,1.51,75.4,470.4,6.0,296,15230,0.00,2.33,0.00,0.000,4,0.000,0.051,2333,3714,2628
$GC,15485,1.46,75.4,455.2,5.6,299,15492,0.12,2.22,0.00,0.000,6,0.227,0.033,2316,2301,2628
$GC,15796,1.52,81.5,441.9,4.2,305,15810,0.00,2.35,7.72,0.773,4,0.000,0.046,2326,897,2598
$GC,16066,1.59,82.9,428.7,5.2,309,16071,0.10,2.28,0.00,0.000,6,0.092,0.041,2355,2312,2598
$GC,16432,1.59,82.9,407.6,5.8,315,16437,0.00,2.30,0.00,0.000,4,0.000,0.045,2365,888,2597
$GC,16669,1.59,85.4,393.5,5.0,318,16679,0.00,2.25,4.75,0.626,6,0.000,0.038,2363,2306,2582
$GC,16995,1.59,85.4,372.2,6.6,324,16999,0.00,2.28,0.00,0.000,4,0.000,0.044,2372,888,2582
$GC,17254,1.59,85.4,355.8,5.7,327,17261,0.00,2.25,0.00,0.000,6,0.000,0.038,2367,2301,2581
$GC,17565,1.59,85.4,338.2,5.7,333,17566,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2301,2581
$GC,17869,1.60,89.5,323.6,4.6,338,17879,0.00,2.28,5.12,0.624,4,0.000,0.046,2367,3716,2565
$GC,18134,1.52,90.1,308.6,5.4,342,18139,0.20,2.22,0.00,0.000,6,0.222,0.032,2332,2290,2564
$GC,18472,1.57,96.0,294.2,4.2,349,18486,0.00,2.35,6.72,0.670,4,0.000,0.045,2329,3714,2539
$GC,18742,1.57,96.0,277.9,6.2,357,18746,0.00,2.22,0.00,0.000,6,0.000,0.032,2338,2292,2538
$GC,19079,1.62,96.0,256.5,6.3,368,19083,0.00,2.28,0.00,0.000,4,0.000,0.045,2330,3714,2538
$GC,19338,1.62,96.0,240.2,5.6,375,19342,0.00,2.20,0.00,0.000,6,0.000,0.031,2338,2303,2537
$GC,19659,1.67,100.2,224.5,4.6,386,19666,0.08,0.00,4.90,0.568,6,0.095,0.000,2373,2303,2522
$GC,19964,1.67,100.2,205.9,6.3,396,19968,0.00,2.28,0.00,0.000,4,0.000,0.044,2384,891,2521
$GC,20056,1.67,100.2,199.9,6.1,398,20060,0.00,2.25,0.00,0.000,6,0.000,0.036,2384,2309,2521
$GC,20370,1.67,100.2,178.5,6.3,408,20374,0.00,2.28,0.00,0.000,4,0.000,0.045,2384,3718,2521
$GC,20630,1.58,100.2,162.2,6.9,415,20634,0.20,2.25,0.00,0.000,6,0.217,0.031,2347,2303,2521
$GC,20944,1.64,116.3,152.3,2.1,425,20963,0.00,2.30,14.07,0.670,4,0.000,0.044,2357,895,2455
$GC,21221,1.71,120.8,138.6,4.5,443,21231,0.00,2.22,4.85,0.523,6,0.000,0.036,2356,2304,2438
$GC,21558,1.78,129.0,122.8,3.7,475,21574,0.12,2.33,8.43,0.606,4,0.071,0.042,2419,893,2402
$GC,21665,1.79,134.7,118.6,4.3,484,21676,0.12,2.25,5.85,0.546,6,0.204,0.035,2390,2312,2382
$GC,22004,1.83,149.7,104.5,2.3,516,22026,0.00,2.28,13.73,0.635,4,0.000,0.044,2382,3708,2319
$GC,22281,1.82,159.8,95.9,3.4,540,22299,0.00,2.22,9.52,0.601,6,0.000,0.030,2391,2302,2278
$GC,22617,1.88,159.8,75.5,6.8,569,22621,0.00,2.28,0.00,0.000,4,0.000,0.044,2383,3721,2276
$GC,22875,1.88,159.8,54.6,8.4,580,22882,0.00,2.25,0.00,0.000,6,0.000,0.031,2391,2306,2275
$GC,23193,1.93,159.8,30.8,7.4,596,23197,0.10,2.28,0.00,0.000,4,0.080,0.044,2436,3718,2275
$GC,23261,1.85,159.8,24.4,8.4,599,23266,0.17,2.22,0.00,0.000,6,0.202,0.031,2405,2296,2273
$STATE,23539,end climb,SURFACE_DEPTH_REACHED
$STATE,23539,begin surface coast
$FINISH,1.2,1.004380
$STATE,23560,end surface coast,CONTROL_FINISHED_OK
$STATE,23563,begin surface
$SM_CCo,23583,112.57,0.594,0,0,1707,300.00
$SM_GC,2.17,0.00,0.00,112.57,0.000,0.000,0.594,98,2295,1707,-8.75,-0.23,300.00
$IRIDIUM_FIX,4949.70,-14444.52,140499,101059
$TT8_MAMPS,0.028379
$HUMID,1720
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.70
$XPDR_PINGS,41
$24V_AH,23.2,94.739
$10V_AH,10.4,81.632
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.625,182.575,170.450,112.575,0.000,53.397,50.845,235.663,10.250,0.000,0.000,34.532,1608.138,18348.055,433.467,2955.869,935.599,33.371,1823.664,0.000,2885.914,0.000,0.527,0.000
$DEVICE_MAMPS,243.139,59.059,1254.812,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,433.242,499.805,636.484,684.835,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37968,614
$CAP_FILE_SIZE,177483,0
$CFSIZE,260165632,207392768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180110,172737,5007.438,-14449.572,35,1.3,35,18.5